We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera

/pdf/monoslam-real-time-single-camera-slam-ydmj8dc1vj.pdf

MonoSLAM: Real-Time Single Camera SLAM

A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with uneven surface, can walk at two third level of human speed, and can walk on a narrow path. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self if HRP-2 tips over safely. In this paper, the appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are also introduced.

Humanoid robot HRP-2

In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.

Humanoid robot HRP-3

This article presents the mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics. With its height of 0.57 m and its weight about 4.5 kg, this innovative robot is lightweight and compact. It distinguishes itself from existing humanoids thanks to its pelvis kinematics design, its proprietary actuation system based on brush DC motors, its electronic, computer and distributed software architectures. This robot has been designed to be affordable without sacrificing quality and performance. It is an open and easy-to-handle platform. The comprehensive and functional design is one of the reasons that helped select NAO to replace the AIBO quadrupeds in the 2008 RoboCup standard league.

Mechatronic design of NAO humanoid

http://sensorimotorcontrolatorium.uic.edu/uploads/3/8/9/6/38963381/aubernikerherr.pdf

2008 Special Issue: Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits

A development of humanoid robot HRP-3P, which is a humanoid robot HRP-3 prototype, is presented in this paper HRP-3 is under development as the succession humanoid to HRP-2, which we developed in phase two of HRP (humanoid robotics project) One of futures of HRP-3P is that its main mechanical and structural components are designed for protection against dust and water Another is that node controllers are developed for realization of distributed control system Real-time communication on Ethernet is also newly developed for communication between main controller and node controllers In this paper, mechanical features and electrical features are presented with specifications of HRP-3P

Development of humanoid robot HRP-3P

This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics platform,. which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been launched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over. In this paper the mechanisms and specifications of leg module, electrical system, simulation results utilized for deciding specifications, and experimental results are also introduced.

/pdf/design-of-advanced-leg-module-for-humanoid-robotics-project-4sa3zrdkth.pdf

Design of advanced leg module for humanoid robotics project of METI

Development of Humanoid Robot “HRP-2”

PROBLEM TO BE SOLVED: To eliminate necessity for arranging an installation space of a cooling means on a leg and an arm by enhancing maneuverability of the leg and the arm by enhancing a degree of freedom of appearance design of an anthropomorphic robot by eliminating restriction on walking performance and the whole body motor function of the anthropomorphic robot by dispensing with a back pack; and to eliminate the possibility of causing unexpected inconvenience by influence of noise by reducing a possibility of secondary inconvenience such as disconnection and contact failure of wiring in these works by reducing labor in assembling and maintenance. SOLUTION: In this structure for mounting an electric equipment apparatus on the anthropomorphic robot, the electric equipment apparatus mounting structure of the anthropomorphic robot is characterized by intensively mounting units 14 to 18 and a battery unit 19 of these control system electric equipment apparatuses in a body 1 of the anthropomorphic robot. COPYRIGHT: (C)2005,JPO&NCIPI

Masaru Hirata

Papers

Humanoid robot HRP-2

Development of humanoid robot HRP-3P

Design of advanced leg module for humanoid robotics project of METI

Development of Humanoid Robot “HRP-2”

Electric equipment apparatus mounting structure of anthropomorphic robot